PAL lab meeting 14 June, 2006 (Eric):An approach to visual servoing based on coded light

Author:
Jordi Pages , Christophe Collewet , Francois Chaumette , Joaquim Salvi

Paper from Proceedings of the 2006 IEEE International Conference on
Robotics and Automation

Abstract:
Positioning a robot with respect to objects by usingdata provided by a camera is a well known technique calledvisual servoing. In order to perform a task, the object mustexhibit visual features which can be extracted from differentpoints of view. Then, visual servoing is object-dependent as itdepends on the object appearance. Therefore, performing thepositioning task is not possible in presence of non-textured objetsor objets for which extracting visual features is too complex ortoo costly. This paper proposes a solution to tackle this limitationinherent to the current visual servoing techniques. Our proposalis based on the coded structured light approach as a reliable andfast way to solve the correspondence problem. In this case, acoded light pattern is projected providing robust visual featuresindependently of the object appearance.

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